Revision 7:01d2bc098b6d, committed 2016-04-25

Comitter:

TFuchsbichler

Date:

Mon Apr 25 06:55:29 2016 +0000

Parent:

6:78243412d2b3

Commit message:

Ultraschallsensor Test

Changed in this revision

diff -r 78243412d2b3 -r 01d2bc098b6d Bertl14.cpp
--- a/Bertl14.cpp	Thu Mar 05 17:39:16 2015 +0000
+++ b/Bertl14.cpp	Mon Apr 25 06:55:29 2016 +0000
@@ -2,41 +2,6 @@
 #include "mbed.h"
 #include "Bertl14.h"
 
-Motor::Motor(PinName pwm, PinName fwd, PinName rev) :
-_pwm(pwm), _fwd(fwd), _rev(rev) 
-{
-	_pwm.period(0.001); _pwm=0;
-	_fwd=0; _rev=0;
-}
-
-void Motor::SetPow(float aPow)
-{
-	if( aPow>=0.0 ) {
-		_fwd=1; _rev=0;
-		_pwm = aPow;
-	}
-	else {
-		_fwd=0; _rev=1;
-		_pwm = -aPow;
-	}
-}
-
-BertlDrive::BertlDrive(PinName pwm, PinName fwd, PinName rev, PinName encoder) :
-Motor(pwm,fwd,rev) , _enc(encoder)
-{
-	encCnt = 0;
-}
-
-void BertlDrive::Init()
-{
-	_enc.rise(this, &BertlDrive::EncoderISR);
-	_enc.fall(this, &BertlDrive::EncoderISR);
-}
-
-void BertlDrive::EncoderISR()
-{
-	encCnt++;
-}
 
 
 PortEx::PortEx() : 

diff -r 78243412d2b3 -r 01d2bc098b6d Bertl14.h
--- a/Bertl14.h	Thu Mar 05 17:39:16 2015 +0000
+++ b/Bertl14.h	Mon Apr 25 06:55:29 2016 +0000
@@ -2,27 +2,6 @@
 #ifndef Bertl14_h
 #define Bertl14_h
 
-class Motor {
-	public:
-		Motor(PinName pwm, PinName fwd, PinName rev);
-		void SetPow(float aPow);
-	protected:
-    PwmOut _pwm;
-    DigitalOut _fwd;
-    DigitalOut _rev;
-};
-
-class BertlDrive : public Motor {
-	public:
-		int16_t encCnt;
-	public:
-		BertlDrive(PinName pwm, PinName fwd, PinName rev, PinName encoder);
-		void Init();
-	private:
-		void EncoderISR();
-		InterruptIn _enc;
-};
-
 
 const int BTN_FLL = 0x80;
 const int BTN_FL  = 0x04;

diff -r 78243412d2b3 -r 01d2bc098b6d BertlObjects.h
--- a/BertlObjects.h	Thu Mar 05 17:39:16 2015 +0000
+++ b/BertlObjects.h	Mon Apr 25 06:55:29 2016 +0000
@@ -4,8 +4,6 @@
 BusOut leds(LED1,LED2,LED3,LED4);
 // DigitalOut ledBlue(P1_28); // 3 blaue LEDs
 
-BertlDrive mL(p34, P1_1, P1_0, P1_12); 
-BertlDrive mR(p36, P1_3, P1_4, P1_13);  // changed
 
 PortEx pex;
 UsDistSens us(p21,p22);
@@ -13,7 +11,6 @@
 void InitBertl()
 {
 	leds=0;
-  mL.Init(); mR.Init(); pex.Init();
 	pex.useISR=0;
 }